Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains

Rong, Yu; Zhang, Xingchao; Dou, Tianci; Wang, Hongbo

doi:10.5194/ms-14-567-2023

Articles | Volume 14, issue 2

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Articles | Volume 14, issue 2

https://doi.org/10.5194/ms-14-567-2023

Articles | Volume 14, issue 2

Article
Metrics
Related articles

Research article

20 Dec 2023

Research article |

| 20 Dec 2023

Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains

Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang

Yu Rong

CORRESPONDING AUTHOR

410533309@qq.com

Hebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, China

Xingchao Zhang

Hebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, China

Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China

Tianci Dou

Hebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, China

Hongbo Wang

Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China

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Optimal resource allocation method and fault-tolerant control for redundant robots

Yu Rong, Tianci Dou, and Xingchao Zhang

Mech. Sci., 14, 399–412, https://doi.org/10.5194/ms-14-399-2023,https://doi.org/10.5194/ms-14-399-2023, 2023

Short summary

Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Taking the planar 4R redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.

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Optimal resource allocation method and fault-tolerant control for redundant robots

Yu Rong, Tianci Dou, and Xingchao Zhang

Mech. Sci., 14, 399–412, https://doi.org/10.5194/ms-14-399-2023,https://doi.org/10.5194/ms-14-399-2023, 2023

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